Coordinated controller design for position based robot visual servoing in Cartesian coordinates

摘要

This paper presents the design of a Cartesian space LQR controller for full three dimensional position based visual servoing. It is shown that by designing the controller in Cartesian space, the design process can be greatly simplified if the LQR cost function is selected appropriately. Experimental results which demonstrate the significant improvements in system performance obtained with this design method are also presented.